Roadmaps

This is the list of major issues and features the Nav2 maintainers are committing for completion for various ROS 2 releases. This is not an exhaustive list of planned features or what changes may be found in the new distribution. It represents only the items of direct commitment to give insight into commitments for REP-2005 repositories in the ROS 2 Roadmap. For a full list of important completed changes in the project, see the Migration Guides Migration Guides.

Lyrical Roadmap

Controller Server and Plugin factor for centralized path handling and crosstrack error estimation and enforcement.	Large
Massive refactor of rclcpp types to nav2 types for ROS API abstraction	Large (in progress)
Improve dynamic feasibility on approach to goal on all control and behavior plugins	Medium (DONE)
Introduce Vector Object Server to augment Costmap Filters with polygons rather than annotated masks	Medium (DONE)
Continued Route Server	Medium
Add Pause and Resume feature to Nav2 behavior tree tasks	Medium (DONE)
Use PointCloud Transport for all pointcloud subscriptions	Medium (DONE)

Kilted Roadmap

Release of Route server	Large (DONE)
Allow non-orientation sp. for smac planner goals	Medium (DONE)
Allow docking server to operate forward and backwards	Medium (DONE)

Jazzy Roadmap

Smac Planner Improvements	Large (DONE)
Get CI Green Again	Small (DONE)
Various MPPI Improvements	Medium (DONE)
Fuse Migration	Medium (incomplete)
Ignition Migration	Medium (DONE)
Route Graph Planner	Large (in progress)
Provide Advanced Capabilities Tutorials (e.g. gps, vio)	Medium (DONE)
ROS Time Respect Across Stack	Medium (DONE)
TwistStamped Migration	Medium (DONE)
Velocity-Scheduled Collision Monitor Polygons	Medium (DONE)
Nav2 auto-docking capability	Medium (DONE)

Iron Roadmap

Plugin Name	Size
Pluginize Navigators	Medium (DONE)
MPPI Controller	Very Large (DONE)
Route Graph Planner	Large (incomplete)
90% unit test coverage	Small (DONE)
Velocity Smoother	Medium (DONE)
ROS Time Respect Across Stack	Medium (incomplete)

Humble Roadmap

Plugin Name	Size
Nav2 1 Node Per Server	Medium (DONE)
Smac Lattice Planner	Large (DONE)
Safety Collision Nodes	Medium (DONE)
Fix Min Range Bug	Small (DONE)
Move Development from Master to Rolling	Small (DONE)
Push Test Coverage to 88%	Medium (DONE)
Complete First Time Guide	Medium (DONE)
Rotation Shim Controller	Small (DONE)
Dynamic Composition	Medium (DONE)